"My situation with Charlie is that we've gotten along for quite some time now, and it's much better, I think," she told reporters at Corolle's Adopt-a-Doll Event in Los Angeles on Saturday.

Richards, 42, said that the former couple remain focused on their daughters, Lola, 7, and Sam, 9.

"One can feel one way and one can feel another way, and there's lots of feelings and emotions there, but at the end of the day we want our daughters to benefit by us getting along," she said. "For myself, I don't want to have an unhealthy relationship with him ... life's too short for that and we actually enjoy hanging out and being with the kids, and it's much easier."

While Richards is also mom to 23-month-old Eloise, whom she adopted late last year, she's also been granted temporary custody of Sheen's children with troubled ex-wife Brooke Mueller, 4-year-old twin sons Bob and Max.

On May 7, an L.A. County Juvenile Court judge agreed to grant Richards temporary custody of the boys – a decision Sheen, 47, supports.

"He loves those kids," a source recently told PEOPLE. "But he's got a crazy work schedule, filming two shows a week, and would rather they spend time with Denise and their daughters than with a nanny at his empty house."